CN117396314A - Remote support system - Google Patents
Remote support system Download PDFInfo
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- CN117396314A CN117396314A CN202180098622.0A CN202180098622A CN117396314A CN 117396314 A CN117396314 A CN 117396314A CN 202180098622 A CN202180098622 A CN 202180098622A CN 117396314 A CN117396314 A CN 117396314A
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- 230000010365 information processing Effects 0.000 claims abstract description 53
- 230000008859 change Effects 0.000 claims description 23
- 238000012937 correction Methods 0.000 claims description 20
- 238000001746 injection moulding Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 36
- 238000005520 cutting process Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 11
- 238000012986 modification Methods 0.000 description 11
- 230000004048 modification Effects 0.000 description 11
- 238000004891 communication Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 238000012546 transfer Methods 0.000 description 7
- 238000003860 storage Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
- G06F21/305—Authentication, i.e. establishing the identity or authorisation of security principals by remotely controlling device operation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
- G06F21/6218—Protecting access to data via a platform, e.g. using keys or access control rules to a system of files or objects, e.g. local or distributed file system or database
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32235—Sharing of data between process control and maintenance management computers
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Manufacturing & Machinery (AREA)
- Health & Medical Sciences (AREA)
- Bioethics (AREA)
- General Health & Medical Sciences (AREA)
- Databases & Information Systems (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Selective Calling Equipment (AREA)
Abstract
The aim is to realize a remote support system with higher security. The remote support system 1 has: a control device 40 for controlling the industrial machine 10, a first information processing terminal 50 connected to the control device 40, and one or more second information processing terminals 60 capable of controlling the first information processing terminal 50. The control device 40 can be controlled from one or more second information processing terminals 60.
Description
Technical Field
The present invention relates to a remote support system.
Background
In recent years, high-function industrial machines such as robots and machine tools have been continuously introduced into manufacturing factories. For example, a robot has a dedicated operation device, and a user can intuitively teach the robot an operation by operating the operation device. On the other hand, the robot can be connected to a general-purpose information processing terminal such as a PC (Personal Computer: personal computer) or a Tablet (Tablet computer), and a user can confirm or change setting data of the robot by connecting the PC to the robot without using a dedicated operation device.
However, in some cases, it is impossible to deal with accidents such as stopping the robot and not moving any more, by only the worker located on the site. In such a case, the robot manufacturer is consulted with a responsible person by mail, telephone, or the like, and the on-site operator operates the robot in accordance with an instruction from the responsible person. In case this is not solved, a technician of the robot manufacturer will directly access and operate the robot. If a technician of the robot manufacturer cannot access the robot immediately, the stop time of the robot becomes long, and the manufacturing progress is delayed. In order to solve this problem, patent document 1 discloses a remote operation system for realizing support of service personnel when a problem occurs in a robot.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 2001-142512
Disclosure of Invention
Problems to be solved by the invention
However, in a remote operation system, sometimes an operation by a third party who has intruded the system or a service person as a remote operator, which is not intended by an on-site operator, becomes a problem. For example, the robot is moved by an operator who cannot grasp the situation of the site, and the robot may collide with an operator or an obstacle located on the site. In addition, there is a possibility that data of an information processing terminal operated by remote operation is illegally accessed. As described above, there is room for improvement in terms of safety against service personnel performing remote operations or intruders who intrude into the network, and safety on site at the time of remote operations, and a remote support system with higher safety is desired.
Means for solving the problems
The remote support system according to an embodiment of the present disclosure includes: a control device for controlling the industrial machine; the first information processing terminal is connected with the control device; and one or more second information processing terminals capable of controlling the first information processing terminal. The control device can be controlled from one or more second information processing terminals.
ADVANTAGEOUS EFFECTS OF INVENTION
According to one embodiment of the present disclosure, high-security remote support can be realized.
Drawings
Fig. 1 is a diagram showing an example of a remote support system of the present embodiment.
Fig. 2 is a block diagram of the remote support system of fig. 1.
Fig. 3 is a selection screen of a control mode of the control device displayed on the user terminal of fig. 1.
Fig. 4 is a selection screen of a connection mode of the technician terminal displayed on the user terminal of fig. 1.
Fig. 5 is a diagram showing one example of a remote support service using the remote support system of fig. 1.
Fig. 6 is a diagram illustrating other examples of remote support services using the remote support system of fig. 1.
Fig. 7 is a diagram illustrating other examples of remote support services using the remote support system of fig. 1.
Fig. 8 is a diagram showing another example of the remote support system of the present embodiment.
Fig. 9 is a diagram showing a first modification of the remote support system according to the present embodiment.
Fig. 10 is a diagram showing a second modification of the remote support system of the present embodiment.
Fig. 11 is a diagram showing a third modification of the remote support system of the present embodiment.
Fig. 12 is a diagram showing a fourth modification of the remote support system of the present embodiment.
Fig. 13 is a diagram showing a fifth modification of the remote support system of the present embodiment.
Detailed Description
Hereinafter, a remote support system according to an embodiment of the present invention will be described with reference to the accompanying drawings. In the following description, the same reference numerals are given to the constituent elements having substantially the same functions and structures, and the description will be repeated only when necessary.
As shown in fig. 1, the remote support system 1 of the present embodiment includes: the robot arm mechanism 10 provided in the factory, the camera 20 for photographing the workpiece W, the control device 40 for controlling the robot arm mechanism 10 and the camera 20, the dedicated operation demonstrator 30 for operating the robot arm mechanism 10, the first information processing terminal 50 (user terminal 50) such as a PC or a tablet computer operated by an operator (user) of the factory, and the second information processing terminal 60 (technician terminal 60) such as a PC or a tablet computer operated by a technician of a robot manufacturer or a technician of a maintenance company who accepts a request from the robot manufacturer. Typically, the operation demonstrator 30 and the user terminal 50 are connected to the control device 40 by a wired cable. The technician terminal 60 is connected to the user terminal 50 so as to be capable of data communication via an external network 100 such as the internet. The operation demonstrator 30 and user terminal 50 may be connected to each other by data communication via a local area network including a control device 40, by wired or wireless communication. The robot arm mechanism 10, the camera 20, and the control device 40 constitute a robot system.
As shown in fig. 2, the robot arm mechanism 10, the camera 20, the operation demonstrator 30, and the user terminal 50 are connected to the control device 40 via respective interfaces 46, 47, 48, 49. The control device 40 has a processor 41. The processor 41 is composed of a CPU (Central Processing Unit: central processing unit), a GPU (Graphics Processing Unit: graphics processor), and the like, and comprehensively controls devices (devices) and controllers (controllers) connected to a system bus. A ROM (Read-Only Memory) 42 stores a BIOS (Basic Input Output System: basic input output system) executed by the processor 41, an operating system program (OS), and the like. The RAM (Random Access Memory: random access memory) 43 functions as a main memory, a work area, and the like of the processor 41. The storage device 44 stores various programs, various setting information, and the like. Specifically, information about the robot system is stored in the storage device 44. The information about the robot system includes a task program for causing the robot arm mechanism 10 and the camera 20 to execute a predetermined task, setting information of the robot arm mechanism 10, and setting information of the camera 20. The setting information of the robot arm mechanism 10 includes, for example, various parameter information related to control of the robot arm mechanism 10, such as an operation speed, an acceleration, and an operation range of the robot arm mechanism 10, and switching information of functions. The setting information of the camera 20 includes a photographing range, a photographing speed, and the like. Further, a control application (application) for controlling the robot arm mechanism 10 and the camera 20 by an operation of an external terminal is stored in the storage device 44. The control here includes control of the operation of the motors of the respective joints of the robot arm mechanism 10, correction of the task program, and change of the setting information. By executing the control application by the processor 41, the control device 40 can provide the control page to the user terminal 50 having accessed the control device 40, and can perform correction and change of data concerning the robot system, such as correction of the task program and change of the setting information, based on the data input from the user terminal 50 via the control page.
The user terminal 50 is connected to the control device 40 via the control device interface 59. The user terminal 50 has a processor 51. The processor 51 is composed of CPU (Central Processing Unit), GPU (Graphics Processing Unit), and the like, and comprehensively controls devices or controllers such as the operation device 55 and the display device 56 connected to the system bus. The ROM52 stores BIOS (Basic Input Output System) executed by the processor 51, an operating system program (OS), and the like. The RAM53 functions as a main memory, a work area, and the like of the processor 51. The storage device 54 stores various programs, various setting information, and the like.
Specifically, the storage device 54 stores an access application for the access control device 40. As the application for access, an existing application such as a browser can be used. By starting the browser in the user terminal 50 and designating the control device 40 to be controlled, a control page of the control device 40 can be displayed in the browser. The user can control the control device 40 via the control page displayed on the user terminal 50, and perform actions such as correcting the task program and changing the setting information to update the data held by the control device 40. The access application is not limited to a browser, and may be a dedicated application as long as the control page provided by the control device 40 can be accessed.
A remote support application for utilizing a remote support service is stored in the storage device 54. As the remote support application, an existing application such as Skype can be used. The user starts the Skype and gives a predetermined instruction, thereby making it possible to make a voice call or a video call with the technician. The operation right of the user terminal 50 can be assigned to the technician terminal 60, and the viewing right of the display screen of the user terminal 50 can be assigned. The Remote support application may be a Remote Desktop (Remote Desktop) or the like built in Windows, as long as the operation right and viewing right of the user terminal 50 can be transferred to the technician terminal 60. The remote support application may be software that can transfer only one of the operation right and the viewing right.
Fig. 3 shows an example of a selection screen of a control mode displayed on the user terminal 50 of the accessed control device 40. The selection screen of the control mode corresponds to the top page of the control page. The remote support system 1 of the present embodiment has three control modes having different control ranges of the control device 40. As shown in fig. 3, three modes of "control (including motor operation)", "control (excluding motor operation)", and "monitor" are provided as control modes.
When "control (including motor operation)" is selected as the control mode, the control right (first control right) of the control device 40 capable of controlling the operation of the motor of the robot mechanism 10 is given to the user terminal 50. A control page corresponding to the first control right is displayed on the user terminal 50. In the control page corresponding to the first control right, the following operation (control) can be performed.
Confirming alarm content such as abnormality and warning generated in robot system
Confirm the input/output state of the robot mechanism 10 and the camera 20
Confirm, change, and change various setting information related to the robot arm mechanism 10 and the camera 20, and switch between functional validity and invalidity
Confirmation and change task program (robot control program and camera 20 control program)
Obtaining a backup of the control device 40 (saving a task program, setting information, an image file of an internal memory of the control device 40)
Control of the operation of the motor of the robot arm mechanism 10
When "control (not including motor operation)" is selected as the control mode, the control right (second control right) of the control device 40 that cannot perform motor operation control is given to the user terminal 50. A control page corresponding to the second control right is displayed on the user terminal 50. In the control page corresponding to the second control right, a job (control) other than "operation control of the motor of the robot arm mechanism 10" in the control permitted by the first control right can be performed.
When "monitor" is selected as the control mode, the user terminal 50 is given a viewing right to operate the demonstrator 30. In the viewing rights, only the display screen of the operation demonstrator 30 is permitted to be viewed. When the user terminal 50 is given the viewing right, the same screen as the display screen of the operation demonstrator 30 is displayed on the user terminal 50. The user can grasp the operation contents of the operation demonstrator 30 via the display screen of the operation demonstrator 30 displayed on the user terminal 50.
The operation demonstrator 30 connected to the control device 40 is not limited by the control range of the control device 40. In the present embodiment, the operation demonstrator 30 may be regarded as being given the first control right.
Fig. 4 shows an example of a remote support screen displayed in the user terminal 50 when executing a remote operation application. The remote support screen displays: a region for displaying a moving image captured by a camera mounted on the user terminal 50, a region for displaying a moving image captured by a camera mounted on the technician terminal 60, a remote operation button, and a screen sharing button.
When the user clicks the remote operation button, the connection mode with the technician terminal 60 is set to the remote operation, and the authority (operation right) to operate the user terminal 50 is transferred to the technician side. The technician can remotely operate the user terminal 50 by operating an operating device such as a mouse or a keyboard of the technician terminal 60.
When the user clicks the screen sharing button, the connection mode with the technician terminal 60 is set to the screen sharing mode, and the right to view the display screen of the user terminal 50 (the viewing right of the user terminal 50) is transferred to the technician side. The technician can confirm the operation state of the user on the user terminal 50 by viewing the display screen of the user terminal 50 displayed on the display screen of the technician terminal 60.
The remote support service using the remote support system 1 according to the present embodiment will be described with reference to fig. 5, 6, and 7.
Fig. 5 shows a case where the user transfers the operation right of the user terminal 50 to the technician side before selecting the control mode of the control device 40 by the user terminal 50. As shown in fig. 5, when a failure such as a stop of the operation of the robot arm mechanism 10 occurs, the user makes a consultation with a technician by means of mail, telephone, short message, or the like. The technician accepts the consultation and sends an invitation mail for the remote support service to the user terminal 50. When the URL (Uniform Resoure Locator: uniform resource locator) included in the received text of the invitation mail is clicked by the user, the remote support application is started in the user terminal 50, and a remote support screen such as that shown in fig. 4 is displayed. The user can communicate the fault condition and the solution by the remote support picture with the technician.
The user clicks a remote operation button on the remote support screen when the user is unlikely to solve the problem by the user's own operation or when he agrees to an application for remote operation from a technician. Thus, the operation right of the user terminal 50 is transferred to the technician side, and the technician remotely operates the user terminal 50 via the technician terminal 60.
The technician remotely operates the user terminal 50 and starts the access application. A selection screen of the control mode of the control device 40 as shown in fig. 3 is displayed on the user terminal 50. The technician remotely operates the user terminal 50 and clicks "control (excluding motor action)" as a control mode. Thereby, the user terminal 50 is given the second control right. The technician can remotely operate the user terminal 50, and the access control device 40 operates within a range defined by the second control right to investigate the cause of the failure occurring in the robot system. When the technician knows the cause of the failure, the technician changes the setting information, and corrects and changes the task program. After the correction and change operation by the technician is completed, the user actually operates the robot system to confirm that the failure has been eliminated.
Fig. 6 shows a case where the right to read the user terminal 50 is transferred to the technician. The user clicks the screen sharing button on the remote support screen when he or she does not wish to let the technician operate the user terminal 50 or agree to an application for screen sharing from the technician. Accordingly, the viewing right of the user terminal 50 is transferred to the technician side, and the technician can view the display screen of the user terminal 50 via the technician terminal 60, and confirm the user operation of the user terminal 50.
The user operates the user terminal 50 to start the access application according to an instruction from the technician. As shown in fig. 3, a selection screen of the control mode of the control device 40 is displayed on the user terminal 50. The user clicks "control (including motor action)" as a control mode according to an instruction from the technician. Thereby, the user terminal 50 is given the first control right. The user can operate the user terminal 50, and the access control device 40 operates within a range defined by the first control right. The technician investigates the cause of the fault generated in the robot system while instructing the user to operate the user terminal 50 or while instructing based on a mark or the like on the shared screen. When the technician knows the cause of the failure, the technician instructs the user to change the parameter, correct the program, and the like, and the user operates the user terminal 50 according to the correction and change instruction from the technician. After the correction and change operations are completed, the user actually operates the robot system to confirm that the failure has been eliminated.
Fig. 7 shows a case where the user operates the user terminal 50 and starts the access application, and after selecting the control mode, the user transfers the operation right of the user terminal 50 to the technician side. As shown in fig. 7, before clicking the remote operation button on the remote support screen, the user starts the access application, and clicks "control (excluding motor operation)" as a control mode on a selection screen (see fig. 3) of the control mode displayed on the user terminal 50. Thereby, the user terminal 50 is given the second control right. After selecting the control mode, the user clicks a remote operation button on the remote support screen. Thus, the operation right of the user terminal 50 is transferred to the technician side. The technician can remotely operate the user terminal 50, and the access control device 40 operates within a range defined by the second control right to investigate the cause of the failure occurring in the robot system. The steps until the technician remotely operates the user terminal 50 to eliminate the trouble and the user actually operates the robot system to confirm are the same as those described in fig. 5.
The remote support system 1 according to the present embodiment is connected to the technician terminal 60 via the external network 100 not by the control device 40 but by the user terminal 50 connected to the control device 40. The security level for the external network 100 is mainly dependent on the user terminal 50. Therefore, if the user terminal 50 has a sufficient security function, the control device 40 does not need to have a special security function for connecting to the external network 100, and it is possible to prevent a third party from invading the control device 40 by using the remote support service and suppress the risk of information leakage of information from the control device 40 to the outside. This can reduce the obstacle in using the remote support service.
The step of transferring the operation right and the viewing right of the user terminal 50 to the technician side can use the functions of a general existing application, and therefore, is not required to be used only for a special application using a remote support service. Therefore, there is no need to spend the cost of developing the above-described special application. Since the existing application can be used, the setting of connecting the user terminal 50 to the technician terminal 60 is simple, and the user has very low obstruction to using the remote support service.
In addition, the operation right of the user terminal 50 is transferred to the technician side based on the user's consent, so the technician side does not have to forcibly acquire the operation right of the user terminal 50. In addition, the user can view the case where the technician remotely operates the user terminal 50 on the display screen of the user terminal 50. Since the technician remotely operates the user terminal 50 under the monitoring of the user, the technician can be prevented from illegally operating the user terminal 50.
If the user is concerned about the technician performing an illegal operation on the user terminal 50, the user may transfer the viewing right of the user terminal 50 to the technician side without transferring the operation right of the user terminal 50 to the technician side as described with reference to fig. 6, and may operate the user terminal 50 by himself or herself according to an instruction from the technician. As described with reference to fig. 7, before transferring the operation right of the user terminal 50 to the technician, the access application may be started and the control mode may be selected in advance. Thus, at the point in time when the technician becomes able to remotely operate the user terminal 50, the control mode has been selected. The technician can only perform control (operation) specified by the control mode selected by the user. Therefore, the user does not have to worry about an operation outside the control range in which the intention is input to the control device 40. The technician can only remotely operate the control page after the control mode is selected, so that the opportunity for the technician to view the main screen of the user terminal 50 can be reduced, the opportunity for accessing other applications installed in the user terminal 50 can be reduced, and the safety of the user terminal 50 relative to the technician can be ensured.
The remote support system 1 of the present embodiment has three control modes having different control ranges of the control device 40, and has two connection modes concerning the connection between the user terminal 50 and the technician terminal 60. The selection operation of each mode can be performed on the user terminal 50. Therefore, if the control mode is selected in advance before the operation right of the user terminal 50 is transferred to the technician side, the technician can only perform the control (operation) permitted in the control mode even if the technician accesses the control page. If the user does not want the technician to remotely operate the user terminal 50, the user may transfer the viewing right of the user terminal 50 to the technician side and operate the user terminal 50 by himself or herself in accordance with the instruction of the technician. In this way, the user can substantially limit the control range of the control device 40 by the technician by the type of control mode selected. The user can arbitrarily set the security level with respect to the technician by selecting the timing of the control mode, the type of the control mode selected, the timing of the connection mode selected, and the type of the connection mode selected. This prevents both an illegal operation of the control device 40 by a technician and an illegal operation of the user terminal 50.
Control modes that can be selected by the user include control modes that do not include motor operations. In the remote operation of the user terminal 50 by the technician, it is difficult to confirm the situation around the robot arm mechanism 10 because the technician is not present. When the robot arm mechanism 10 is moved in a state where an operator or an obstacle is present around the robot arm mechanism 10, the robot arm mechanism 10 collides with the operator or the obstacle. Therefore, by having a control mode that does not include motor operation, it is possible to avoid a situation in which the motor is driven by the technician at a timing other than the user's intention to move the robot arm mechanism 10. This enables the remote support service by the off-site technician to be used with confidence.
In the remote support system 1 of the present embodiment, the user terminal 50 is connected to a single control device 40. However, the number of control devices 40 connected to the user terminal 50 may be plural. The remote support system 2 shown in fig. 8 has a plurality of robot systems 3 (3 a, 3b, 3 c). The user terminal 50 is connected to the plurality of control devices 40 (40 a, 40b, 40 c) via a repeater 90. By designating a control device to be controlled by a user by starting an access application at the user terminal 50, the control device connected to the user terminal 50 can be switched via the repeater 90, and access can be made to the designated control device. In this way, even if the number of control devices 40 is plural, the remote support system can achieve the same effect as the configuration having a single control device 40.
The remote support system 1 of the present embodiment has three modes of "control (including motor operation)", "control (not including motor operation)", and "monitor" as control modes of the control device 40, and defines a control range of the control device 40 by the user terminal 50 according to the control mode selected by the operation of the user terminal 50. This can substantially limit the control range of the control device 40 by a technician who remotely operates the user terminal 50. However, the control mode is not limited to this as long as the control range of the control device 40 by the user terminal 50 can be limited. The control modes may be one, two, or four or more. In the present embodiment, the control mode is predetermined, but the control mode may be set in the user terminal 50. Thus, the risk of performing an operation against the user's intention by a technician remotely operating the user terminal can be reduced.
In the remote support system 1 of the present embodiment, two input devices, i.e., the operation demonstrator 30 and the user terminal 50, are connected to the control device 40. When input from two input devices is received, the work of correction and change may be complicated. Further, when the input of the operation command is simultaneously received, unexpected operations may be performed. Therefore, it is desirable that the control device 40 is configured such that the input device that cannot receive the correction or change operation from the other input device is limited to one input device while the control device 40 is input from the one input device. For example, during operation of the teach pendant 30 to access the control device 40, the control device 40 denies access to the control device 40 by the user terminal 50.
The control mode of the control device 40 by the operation demonstrator 30 may be automatically set according to the control mode selected in the user terminal 50. For example, when a control mode including a motor operation is selected in the user terminal 50, a control mode not including a motor operation is automatically set in the operation demonstrator 30. This allows the robot to receive the operation of the robot with a high risk from only one of the input devices.
In order to avoid the case where the connection is disconnected during the correction or the change, the data during the correction or the change is incompletely reflected, or the case where the data during the correction or the change is broken, it is desirable to reflect the corrected or changed data at the time point when the correction or the change is completed. Accordingly, when the operation of correction and modification is started, the control device 40 is configured to receive the correction and modification of the copy data of the original data, and to cover the original data with the data for which the correction and modification have been completed, with the completion of the correction and modification.
In fig. 5 to 7, an example in which a control mode capable of operating the control device 40 is selected by a user at the user terminal 50 is illustrated. However, when the user wants to view the operation of the operation demonstrator 30 by a technician or to view the operation of the operation demonstrator 30 by a worker located on the site together with the technician, the user may select "monitor" as the control mode. When "monitor" is selected as the control mode and the technician terminal 60 is given the viewing right or the operation right of the user terminal 50, the same screen as the display screen of the operation demonstrator 30 is displayed on the technician terminal 60. The operator at the site can operate the operation demonstrator 30 while receiving an instruction from the technician to view the screen of the operation demonstrator 30 displayed on the technician terminal 60. In the present embodiment, the control device 40 is connected to the operation demonstrator 30, but the operation demonstrator 30 may not necessarily be connected to the control device 40 in order to be able to control the control device 40 via the user terminal 50.
When a technician operating the technician terminal 60 remotely operates the user terminal 50 to eliminate a system failure, the user terminal 50 is provided with a photographing unit 51 such as a camera (see fig. 1) so that the technician can visually confirm in actuality what situation the system is stopped and what situation on site such as what system error is displayed. The image or video photographed by the photographing unit 51 is transmitted to the technician terminal 60 through the remote support application of the user terminal 50. Of course, it may also be sent to technician terminal 60 through other applications. The technician can make a request to the user for a position to be visually confirmed, and can cope with a system failure while confirming an image or video captured by the capturing unit 51 mounted on the user terminal 50. This can improve the workability of the support work of the technician. Of course, the imaging unit 51 may be configured separately from the user terminal 50, or may be mounted on the operation demonstrator 30.
In order to make it possible for a technician to actually hear sounds such as the industrial machine, such as the robot arm mechanism 10, being in standby and operating, a recording unit (not shown) such as a microphone may be attached to the user terminal 50. The sound data recorded by the recording unit is transmitted to the technician terminal 60 through the remote support application of the user terminal 50. Of course, it may also be sent to technician terminal 60 through other applications. The technician can cope with the malfunction of the system while confirming the sound recorded by the recording unit mounted on the user terminal 50. This can improve the workability of the support work of the technician. Of course, the recording unit may be configured separately from the user terminal 50, or may be mounted on the operation demonstrator 30.
In the case where a plurality of technicians deal with a customer problem, a plurality of technician terminals 60 connected to the user terminal 50 may be provided. As shown in fig. 9, two technician terminals 60 (60 a, 60 b) are connected to the user terminal 50. In order to make the remote operation of the user terminal 50 uncomplicated, it is desirable to be configured so that the operation right of the user terminal 50 can be given to only one technician terminal 60a of the two technician terminals 60a, 60 b. For example, by a user operation on the remote support screen displayed on the user terminal 50, the technician terminal 60a can be given an operation right by clicking the remote operation button after designating one of the technician terminals 60 a. At this time, the viewing right is automatically given to the other technician terminal 60 b. The other technician terminal 60b can confirm that the user terminal 50 is remotely operated by the technician terminal 60 a. This allows a plurality of technicians to share information, and efficiently cope with maintenance and trouble. Of course, the user operation on the remote support screen displayed on the user terminal 50 may be configured to click the screen sharing button after the other technician terminal 60b is designated, whereby the other technician terminal 60b can be given the viewing right. In the same manner as in the case where 3 or more technician terminals 60 are connected to the user terminal 50, it is preferable that only one technician terminal 60 among the 3 or more technician terminals 60 can be given an operation right.
It is assumed that there are a plurality of users who perform work on site, and there may be a plurality of user terminals 50 connected to the control device 40. In addition, the user terminal 50 may be an information processing terminal such as a smart phone, a tablet computer, or the like, instead of a PC. As shown in fig. 10, two user terminals 50 (50 a, 50 b) are directly connected to the control device 40 via cables or the like. Of course, the user terminal 50 may be connected to the control device 40 in a wireless manner via an internal network including the control device 40. In order to make the control operation of the control device 40 less complicated, it is desirable that only one user terminal 50a of the two user terminals 50a, 50b is configured to be able to control the control device 40. For example, while the control page is being accessed by the user terminal 50a, the control page cannot be accessed by the user terminal 50b, or an operation on the control page cannot be performed even if the control page can be accessed. Of course, it is preferable that if 3 or more user terminals 50 are connected to the control device 40, only one of the user terminals 50 can control the control device 40. However, when a plurality of user terminals 50 are connected to the control device 40, the control device 40 is not controlled by the plurality of user terminals 50 at the same time.
In the present embodiment, it is assumed that a user located in the field connects the user terminal 50 to the control device 40 via a cable, and receives remote support. However, there are also cases where the user himself is located at a remote position. In this case, as shown in fig. 11, the control device 40 may be connected to a network device 104 such as a router by wire or wirelessly via a local area network, and the user terminal 50 may access the control device 40 via an external network 100 such as the internet.
In the present embodiment, the control targets are the robot arm mechanism 10 and the camera 20. However, the control object may be an industrial machine such as a machine tool, an injection molding machine, or another CNC (Computer Numerical Control: computer numerical control) control machine. Wherein, the machine tool comprises a cutting machine, an electric discharge machine, a laser machine, an ultra-precise machine and the like. In addition, CNC control machines include forging machines, conveyors, hoppers, cloth cutters, and the like. Of course, the control object may be 1 kind of these industrial machines, or may be a system of a combination of 2 or more kinds.
As shown in fig. 12, a processing system includes: the cutting machine 70 performs machining by cutting a workpiece, and the robot mechanism 10 is disposed at a position close to the cutting machine 70, supplies a workpiece before machining to the cutting machine 70, and removes the machined workpiece from the cutting machine 70, wherein the cutting machine 70 and the robot mechanism 10 are controlled. The user terminal 50a is connected to the control device 40 that controls the robot mechanism 10 via a cable, and the technician terminal 60a is connected to the user terminal 50a via the external network 100 so as to be capable of data communication. The user terminal 50b is connected to a cutting machine control device 80 that controls the cutting machine 70 through a wired cable, and the technician terminal 60b is connected to the user terminal 50b via an external network 100 so as to be capable of data communication.
The control mode of the user terminal 50a to the control device 40 (the robot arm mechanism 10) and the control mode of the user terminal 50b to the cutting machine control device 80 (the cutting machine 70) can be individually selected by the operations of the user terminals 50a, 50b. The user can transfer the operation right or viewing right of the user terminal 50a to the technician terminal 60a by the operation of the user terminal 50a, and can transfer the operation right or viewing right of the user terminal 50b to the technician terminal 60b by the operation of the user terminal 50b.
For example, the user can select "control (including motor operation)" as a control mode of the robot mechanism 10 by the user terminal 50a, select "control (not including motor operation)" as a control mode of the cutting machine 70 by the user terminal 50b, and the like, and select the control mode according to the conditions of the plurality of industrial machines and sites to be controlled. The user can operate the user terminals 50a and 50b, give the technician terminal 60a an operation right to the user terminal 50a, give the technician terminal 60b a viewing right to the user terminal 50b, and select the support mode according to the industrial machine to be controlled or according to the proficiency of the user operating the user terminals 50a and 50b. This makes it possible to achieve both safety in the field and workability in the modification and change of the setting data by remote operation. A technician of the robot manufacturer or the maintenance company can correct and change information about the processing system by remote operation of the user terminal 50. The information about the processing system includes not only information about the robot arm mechanism 10 but also information about the cutting machine 70. The information about the cutting machine 70 includes a task program and setting information of the cutting machine 70.
In fig. 12, two user terminals are connected to two industrial machines as control targets, respectively. However, two industrial machines to be controlled may be controlled by one user terminal. For example, two industrial machines to be controlled may be communicably connected to each other, and a user terminal may be connected to one industrial machine to control another industrial machine via one industrial machine. Of course, two industrial machines to be controlled may be connected to a single user terminal so as to be capable of data communication, and the two industrial machines may be controlled by the single user terminal.
As shown in fig. 13, the robot controller 40 that controls the arm mechanism 10 and the cutting machine controller 80 that controls the cutting machine 70 are connected to each other in a data communication manner, and the user terminal 50 is connected to the cutting machine controller 80 via a wired cable. The technician terminal 60 is connected to the user terminal 50 via an external network 100 such as the internet so as to be capable of data communication. The user terminal 50 may be connected to the robot control device 40 through a cable.
The control mode of the robot controller 50 (the arm mechanism 10) by the user terminal 50 and the control mode of the cutting machine controller 80 (the cutting machine 70) by the user terminal 50b may be set individually or together by the operation of the user terminal 50. By being able to be set individually, both physical security and security in data management on site can be achieved. By enabling the setting together, the control mode selection operation can be easily performed, and thus the workability of the data correction and change operation can be improved.
One feature of the remote support system 1 of the present embodiment is that it includes: a control device 40 for controlling the mechanical arm mechanism 10 and the camera 20, a user terminal 50 connected to the control device 40, and at least one technician terminal 60 capable of remotely operating the user terminal 50; by remotely operating the user terminal 50 from the technician terminal 60, the information held by the control device 40 can be corrected and changed. Accordingly, a technician at a remote location can cope with a failure of such a system including the robot arm mechanism 10 and the camera 20 without visiting the site.
While certain embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other modes, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and modifications are included in the scope of the invention described in the claims and equivalents thereof, as are included in the scope and gist of the invention.
Description of the reference numerals
1: remote support system, 10: mechanical arm mechanism, 20: camera, 30: operation demonstrator, 40: control device, 50: first information processing terminal (user terminal), 51: shooting unit, 60: second information processing terminal (technician terminal), 100: a network.
Claims (14)
1. A remote support system, comprising:
a control device for controlling the industrial machine,
a first information processing terminal connected with the control device, and
more than one second information processing terminal capable of controlling the first information processing terminal;
the control device can be controlled from one or more of the second information processing terminals.
2. The remote support system of claim 1, wherein,
more than one of the second information processing terminals is connected to the first information processing terminal.
3. The remote support system according to claim 1 or 2, wherein,
the industrial machine has at least one of a robot, a machine tool, an injection molding machine, and a computer numerical control machine.
4. The remote support system according to any one of claim 1 to 3, wherein,
the control device maintains information about the industrial machine,
the first information processing terminal has control right of the control device,
in order to support the correction and change of the information about the industrial machine via the first information processing terminal, the operation right for operating the first information processing terminal is given to one or more second information processing terminals based on the instruction of the user to the first information processing terminal,
the control device may be configured to control the control device via the first information processing terminal based on an instruction from another user to the second information processing terminal to which the operation right is given, the instruction being configured to remotely operate the first information processing terminal within a control range of the control right.
5. The remote support system according to claim 4, wherein,
and giving the operation right to any one of the more than one second information processing terminals.
6. The remote support system according to claim 4 or 5, wherein,
giving an operation right to manipulate the first information processing terminal or a viewing right to view a display screen of the first information processing terminal to one or more second information processing terminals based on an instruction from the user to the first information processing terminal,
when the viewing right is given to one or more of the second information processing terminals, the user operates one or more of the second information processing terminals while receiving an instruction from the other user, thereby controlling the control device.
7. The remote support system according to any one of claims 4 to 6, wherein,
there is also a camera for photographing the workpiece,
the first information processing terminal has control rights of the control device and control rights of the camera,
in order to support the user to correct and change the information about the industrial machine and the camera, the first information processing terminal is given the operation right based on the instruction of the user to the first information processing terminal,
the other user can remotely operate the first information processing terminal within a control range of the control right of the control device and the control right of the camera, and the control device and the camera can be controlled via the first information processing terminal based on an instruction of the other user to one or more second information processing terminals.
8. The remote support system according to any one of claims 4 to 7, wherein,
the control right has a first control right including a drive from a power source of the industrial machine and a second control right not including a drive from the power source,
the control device has a dedicated operating device for the industrial machine,
the operating means has the first control right,
the first information processing terminal has the first control right or the second control right based on an instruction of the user.
9. The remote support system according to any one of claims 1 to 7, wherein,
the control device has a dedicated operating device for the industrial machine.
10. The remote support system according to claim 8 or 9, wherein,
the control device may not be controlled by the first information processing terminal or the operation device while the control device is being controlled by the operation device or the first information processing terminal.
11. The remote support system according to any one of claims 8 to 10, wherein,
the control device reflects the corrected program when receiving a signal indicating that the correction of the program held by the control device by the operating device or the first information processing terminal has been completed.
12. The remote support system according to any one of claims 8 to 11, wherein,
one of the dedicated operating devices and the first information processing terminal has a photographing unit,
in order to support correction and change of information about the industrial machine, an image or video captured by the capturing unit is transmitted to the second information processing terminal.
13. The remote support system according to any one of claims 8 to 12, wherein,
the same screen as that which can be displayed on the dedicated operation device can be displayed on the first information processing terminal or the one or more second information processing terminals.
14. The remote support system according to any one of claims 1 to 13, wherein,
having a plurality of the control devices, and a repeater that repeats data transmission between each of the control devices and the first information processing terminal,
the relay switches the control device connected to the first information processing terminal based on a switching instruction from the first information processing terminal.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2021/021884 WO2022259407A1 (en) | 2021-06-09 | 2021-06-09 | Remote assistance system |
| JPPCT/JP2021/021884 | 2021-06-09 | ||
| PCT/JP2021/044254 WO2022259572A1 (en) | 2021-06-09 | 2021-12-02 | Remote assistance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117396314A true CN117396314A (en) | 2024-01-12 |
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ID=84424527
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|---|---|---|---|
| CN202180098622.0A Pending CN117396314A (en) | 2021-06-09 | 2021-12-02 | Remote support system |
Country Status (5)
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| JP (1) | JPWO2022259572A1 (en) |
| CN (1) | CN117396314A (en) |
| DE (1) | DE112021007454T5 (en) |
| TW (1) | TW202248774A (en) |
| WO (2) | WO2022259407A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001142512A (en) * | 1999-11-16 | 2001-05-25 | Mitsubishi Electric Corp | Remote operation system for robot |
| WO2017169144A1 (en) * | 2016-03-31 | 2017-10-05 | ソニー株式会社 | Information processing device, information processing method, and program |
| JP7403090B2 (en) * | 2019-10-09 | 2023-12-22 | Ｔｅｌｅｘｉｓｔｅｎｃｅ株式会社 | Robot, robot control device and robot control method |
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2021
- 2021-06-09 WO PCT/JP2021/021884 patent/WO2022259407A1/en unknown
- 2021-12-02 CN CN202180098622.0A patent/CN117396314A/en active Pending
- 2021-12-02 DE DE112021007454.7T patent/DE112021007454T5/en active Pending
- 2021-12-02 JP JP2023526846A patent/JPWO2022259572A1/ja active Pending
- 2021-12-02 WO PCT/JP2021/044254 patent/WO2022259572A1/en active Application Filing
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2022
- 2022-05-31 TW TW111120190A patent/TW202248774A/en unknown
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| DE112021007454T5 (en) | 2024-02-22 |
| WO2022259572A1 (en) | 2022-12-15 |
| WO2022259407A1 (en) | 2022-12-15 |
| TW202248774A (en) | 2022-12-16 |
| JPWO2022259572A1 (en) | 2022-12-15 |
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